KR102015323B1 - Side brush assembly, robot cleaner and method for controlling the robot cleaner - Google Patents

Side brush assembly, robot cleaner and method for controlling the robot cleaner Download PDF

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Publication number
KR102015323B1
KR102015323B1 KR1020120131379A KR20120131379A KR102015323B1 KR 102015323 B1 KR102015323 B1 KR 102015323B1 KR 1020120131379 A KR1020120131379 A KR 1020120131379A KR 20120131379 A KR20120131379 A KR 20120131379A KR 102015323 B1 KR102015323 B1 KR 102015323B1
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KR
South Korea
Prior art keywords
side arm
lever
main body
side brush
cam
Prior art date
Application number
KR1020120131379A
Other languages
Korean (ko)
Other versions
KR20140030008A (en
Inventor
문주성
유경환
김경웅
송정곤
Original Assignee
삼성전자주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 삼성전자주식회사 filed Critical 삼성전자주식회사
Priority to JP2013178411A priority Critical patent/JP2014046207A/en
Priority to PCT/KR2013/007756 priority patent/WO2014035152A1/en
Priority to AU2013309726A priority patent/AU2013309726B2/en
Priority to IN2236DEN2015 priority patent/IN2015DN02236A/en
Priority to US14/014,902 priority patent/US9414734B2/en
Priority to EP13182355.1A priority patent/EP2702919B1/en
Priority to CN201310388447.6A priority patent/CN103654641B/en
Publication of KR20140030008A publication Critical patent/KR20140030008A/en
Application granted granted Critical
Publication of KR102015323B1 publication Critical patent/KR102015323B1/en

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0488—Combinations or arrangements of several tools, e.g. edge cleaning tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0405—Driving means for the brushes or agitators
    • A47L9/0411—Driving means for the brushes or agitators driven by electric motor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2847—Surface treating elements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Abstract

The present invention relates to a side brush assembly mounted on a side arm capable of protruding and returning a side brush unit and a robot cleaner using the same.
Robot cleaner according to an embodiment of the present invention, the body traveling on the floor to remove dust from the floor; And at least one side brush assembly provided in the main body to widen the dust removing area of the bottom, wherein the side brush assembly comprises: a side brush main body forming an appearance; A side arm mounted below the side brush body, the side arm protruding outwardly of the body; A side brush unit rotatably mounted to the side arm; A lever connected to the side arm and rotating together with the side arm; A cam that receives the driving force from the drive motor and rotates; And an elastic member connecting the lever and the cam and transmitting the elastic force to the lever to rotate the lever.

Description

Side brush assembly, robot cleaner and method for controlling the robot cleaner}

The present invention relates to a side brush assembly, a robot cleaner and a control method of the robot cleaner mounted on a side arm capable of protruding and returning the side brush unit.

The robot cleaner is a device that performs cleaning by suctioning foreign substances such as dust from the floor while driving the cleaning area by itself without a user's manipulation. The robot cleaner determines the distance to obstacles such as furniture, office supplies, and walls installed in the cleaning area through the distance sensor, and cleans the cleaning area while switching directions by selectively driving the left and right wheel motors of the robot cleaner.

The robot cleaner includes a brush unit that collects dust. The robot cleaner may further include a side brush assembly to widen the cleaning area of the robot cleaner.

According to one embodiment of the present invention, the side brush unit is protruded to implement a robot cleaner that can sweep the dust of the corner that the body of the robot cleaner is not close. In addition, it is possible to prevent the side brush unit from being damaged by an external obstacle. In addition, the side arm can be reliably introduced into the body.

Robot cleaner according to an embodiment of the present invention, the body traveling on the floor to remove dust from the floor; And at least one side brush assembly provided in the main body to widen the dust removing area of the bottom, wherein the side brush assembly comprises: a side brush main body forming an appearance; A side arm mounted below the side brush body, the side arm protruding outwardly of the body; A side brush unit rotatably mounted to the side arm; A lever connected to the side arm and rotating together with the side arm; A cam that receives the driving force from the drive motor and rotates; And an elastic member connecting the lever and the cam and transmitting the elastic force to the lever to rotate the lever.

A through hole is formed in the side brush body, and a shaft inserted into the through hole connects through the side brush body and the lever.

A slit is formed adjacent to the through hole.

The lever is provided with a guide pin, and the guide pin moves along the slit as the lever rotates.

When the cam is driven and rotated by the drive motor, the guide pin moves in one direction along the slit by the elastic force of the elastic member, and the side arm protrudes out of the main body.

When an external force is applied in a direction of returning the side arm into the main body while the side arm protrudes outside the main body, the guide pin moves in the other direction along the slit, and when the external force is removed, the elastic member is The guide pin is moved in one direction along the slit by the elastic force to return the side arm to the state protruding to the outside of the main body.

When an external force is applied in a direction in which the side arm protrudes outward from the main body while the side arm is inserted into the main body, the guide pin moves in one direction along the slit, and the elastic member is removed when the external force is removed. The guide pin is moved in the other direction along the slit by the elastic force of the to return the side arm is retracted into the main body.

A part of the lever protrudes outward to form a locking part.

The locking portion is interfered by the cam in the state where the side arm is inserted into the main body, and even though an external force acts in the direction of protruding the side arm to the outside of the main body, the locking portion interferes with the cam and the lever rotates. I never do that.

The guide pin is integrally formed with the lever.

The side brush assembly is detachably mounted to the bottom of the body.

A coupling hole is formed in the side brush body, and the side brush body is coupled to the body by a fastening member penetrating the coupling hole and the bottom surface of the body.

The side arm is provided with a drive shaft mounted to the side brush unit and a side brush drive motor for rotating by providing power to the drive shaft.

Side brush assembly according to an embodiment of the present invention, the side brush body formed with a receiving portion; A drive motor accommodated in the accommodation portion; A cam that receives power from the drive motor and rotates; A lever rotatably provided at the side brush body; An elastic member which connects the cam and the lever and is tensioned by rotation or external force of the cam to rotate the lever; A side arm rotatably integrated with the lever; And a side brush unit rotatably mounted to the side arm.

The side arm and the lever are mounted and fixed to both ends of the shaft passing through the side brush body, respectively.

The side arm rotates in one direction by an external force, and when the external force is removed, rotates in the other direction to return to the original position.

Protruding to one side of the lever is formed locking portion.

If the cam does not rotate when the driving force is supplied from the driving motor, the locking portion is interfered by the cam and rotation of the lever and the side arm is limited.

A slit is formed in the side brush body, and the lever is provided with a guide pin guided by the slit.

Rotation of the side arm in at least one direction may be limited by the length of the slit.

Robot cleaner according to an embodiment of the present invention, the body traveling on the floor to remove dust from the floor; A side brush body provided inside the body and having a receiving portion; A drive motor accommodated in the accommodation portion; A cam that receives power from the drive motor and rotates; A pressing unit mounted to the cam and moving integrally with the cam; A side arm protruding from the main body or drawn into the main body by the rotation of the cam; A control unit controlling the driving of the driving motor; And a sensor mounted on the side brush body and detecting whether the side arm is completely inserted into the side brush body.

The sensor includes a switch, and the pressing unit presses the switch when the side arm is completely drawn into the main body.

When the pressing unit presses the switch, the sensor transmits information to the controller that the side arm is completely drawn into the main body.

The number of steps of the driving motor driven when the side arm protrudes or returns is preset.

When the side arm returns to the inside of the main body, if the switch is not pressed after the drive motor is driven by a predetermined number of steps, the controller determines that the side arm is interfered by an obstacle.

A control method of a robot cleaner according to an embodiment of the present invention includes a first step of driving a driving motor to rotate a side arm so that the side arm returns to the inside of the main body; A second step of determining whether the driving motor is driven by a predetermined number of steps; Determining whether the switch is pressed by the side arm; A fourth step of determining whether a waiting time has elapsed while the rotation of the drive motor is stopped; A fifth step of driving the driving motor to rotate the side arms so that the side arms return to the inside of the main body; And a sixth step of determining whether the switch is pressed.

In the third step, when it is detected that the switch is pressed by the side arm, the side arm is regarded as completely returned to the inside of the main body and ends the return operation of the side arm.

In the fourth step, during the waiting time, the robot cleaner removes an obstacle that interferes with the side arm by rotating or linearly operating.

In the sixth step, if the switch is not detected as being pressed, the fifth step is repeated.

Driving the driving motor to rotate the side arms to protrude out of the main body; Determining whether the driving motor is driven by a predetermined number of steps; And stopping driving of the driving motor.

According to one embodiment of the present invention, since the side arm mounted with the side brush unit may protrude, the cleaning area may be widened. In addition, it is possible to prevent the side brush unit from being damaged by interference with an external obstacle. The side brush unit may be prevented from forcibly protruding by an external obstacle in a state where the side brush unit does not protrude. In addition, it is possible to detect whether the side arm is fully inserted into the main body to prevent the return operation is stopped in the protruding state of the side arm.

1 (a) and 1 (b) are perspective views showing a robot cleaner according to an embodiment of the present invention.
2 (a) and 2 (b) is a bottom view showing a robot cleaner according to an embodiment of the present invention.
3 is a view showing a state in which the side brush assembly of the robot cleaner according to an embodiment of the present invention is separated.
4 is a perspective view illustrating a side brush assembly according to a first embodiment of the present invention.
5 is an exploded perspective view of the side brush assembly according to the first embodiment of the present invention.
6 is a view showing a state in which the cover of the side brush assembly according to the first embodiment of the present invention is removed.
7 to 10 are views illustrating the operation of the side brush assembly according to the first embodiment of the present invention.
11 is an exploded perspective view of a side brush assembly according to a second embodiment of the present invention.
12 is a view showing a state in which the cover of the side brush assembly according to the second embodiment of the present invention is removed.
13 to 15 are views illustrating the operation of the side brush assembly according to the second embodiment of the present invention.
16 is a view illustrating a locked state of a side brush assembly according to a second embodiment of the present invention.
17 is a view showing a side brush assembly in a state in which the side arm is protruding according to the present invention.
18 is a view showing a side brush assembly in a side arm folded state according to the present invention.
19 is a flowchart related to the control of the motion of the side arm protruding according to the present invention.
20 is a flowchart relating to the control of the folding operation of the side arm according to the present invention.

Hereinafter, a side brush assembly, a robot cleaner, and a method of controlling the robot cleaner according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 (a) and 1 (b) is a perspective view showing a robot cleaner according to an embodiment of the present invention, Figures 2 (a) and 2 (b) is a robot cleaner according to an embodiment of the present invention 3 is a bottom view illustrating the side brush assembly of the robot cleaner according to the embodiment of the present invention.

1 (a) to 3, the robot cleaner 1 according to an embodiment of the present invention includes a main body 2, a power supply unit 3, a driving wheel assembly 4, a caster 5, and a main brush. Unit 6, side brush assembly 10.

The power supply unit 3 supplies driving power for driving the main body 2. The power supply unit 3 includes a main body 2 and a battery electrically connected to each driving device for driving various components mounted on the main body 2 to supply driving power. The battery is provided as a rechargeable secondary battery, and may be charged by receiving power from the docking station (not shown) when the main body 2 completes the cleaning process and is coupled to the docking station (not shown).

Two drive wheel assemblies 4 may be arranged symmetrically with each other on the left and right edges of the central area under the main body 2. The drive wheel assembly 4 includes a drive wheel 40 to enable movement operations such as forward, backward and rotational running in the process of cleaning. The drive wheel assembly 4 can be modularized and detachably mounted to the bottom of the body 2. Therefore, when a failure occurs in the driving wheel 40 or the like, repair may be performed by removing only the driving wheel assembly 4 from the lower part of the main body 2 without disassembling the entire main body 2. The drive wheel assembly 4 can be mounted below the body 2 in such a manner as hooking, screwing, fitting and the like.

The caster 5 is installed at the front edge of the lower part of the main body 2 based on the driving direction so that the main body 2 can maintain a stable posture. The caster 5 may consist of a drive wheel assembly 4 and one assembly.

The main brush unit 6 is mounted on the suction port 62 side formed below the main body 2. The main brush unit 6 includes a main brush 60 and a roller 61. The main brush 60 is provided on the outer surface of the roller 61. As the roller 61 rotates, the main brush 60 stirs the dust accumulated on the floor to guide the suction port 62. The roller 61 may be formed of a rigid body, but is not limited thereto. The main brush 60 may be formed of various materials having elasticity.

Although not shown in the drawings, a blower for generating a suction force is provided inside the suction port 62 to move the dust introduced into the suction port 62 to a dust collector (not shown).

The main body 2 may be equipped with various sensors 20 and 21. For example, various sensors 20 and 21 may include a proximity sensor 20 and a vision sensor 21. When the robot cleaner 1 travels in an arbitrary direction without a predetermined path, that is, in the cleaning system without a map, the robot cleaner 1 may travel the cleaning area using the proximity sensor 20. When the robot cleaner 1 travels along a predetermined path, that is, in a cleaning system requiring a map, a vision sensor 21 may be installed to receive location information of the robot cleaner 1 and generate a map. . The vision sensor 21 corresponds to an embodiment of the location recognition system, and may be implemented in various other ways.

One side of the main body 2 may be provided with a display unit 22. The display unit 22 may display various states of the robot cleaner 1. For example, whether the battery is charged or whether the dust collector is full of dust collector (not shown), the cleaning mode of the robot cleaner 1, the sleep mode, and the like may be displayed.

The bottom brush assembly 10 may be modularized and detachably mounted on the bottom of the main body 2. When the side brush assembly 10 fails and needs repair, the side brush assembly 10 may be repaired by removing only the side brush assembly 10 from the body 2 without disassembling the entire body 2. . The side brush assembly 10 may be mounted to the bottom of the body 2 by various methods such as hooking, screwing, and fitting. Two or more side brush assemblies 10 may be mounted on the bottom surface of the main body 2 at predetermined intervals.

The side brush assembly 10 includes a side arm 13 and a side brush unit 14. The side brush unit 14 may be mounted to the side arm 13. The side arm 13 is provided to protrude and return from the main body 2. The side brush unit 14 includes a rotation shaft 140 and a side brush 141. The side brush 141 may rotate around the rotating shaft 140 to sweep the dust of the floor on which the robot cleaner 1 travels toward the suction port 62.

Hereinafter, the configuration of the side assembly 10 will be described in detail.

Figure 4 is a perspective view showing a side brush assembly according to a first embodiment of the present invention, Figure 5 is an exploded perspective view of a side brush assembly according to a first embodiment of the present invention, Figure 6 is a first embodiment of the present invention FIG. Is a view illustrating a case where a cover of a side brush assembly is removed.

4 to 6, the side brush assembly 10 according to the first embodiment of the present invention includes a side brush body 11, a cover 12, a side arm 13, and a side brush unit 14. Include. An opening may be formed in an upper portion of the side brush body 11 and may be shielded by the cover 12. The side arm 13 may be mounted to the side brush body 11, and the side brush unit 14 may be mounted to the side arm 13.

An accommodating part 110 is formed in the side brush body 11, and the side arm driving motor 180 is accommodated in the accommodating part 110. The side brush body 11 is provided with a cam 15, a lever 16, and an elastic member 17. The cam 15, the lever 16, and the elastic member 17 may be accommodated in the accommodation portion 110 of the side brush body 11.

 The cam 15 is mounted to the side arm drive motor 180. The side arm drive motor 180 may transmit the driving force to the cam 15 to rotate the cam 15 clockwise or counterclockwise.

The lever 16 may be mounted to the side brush body 11. The lever 16 is formed with a hole 160 into which the shaft 19 can be inserted. The side brush body 11 has a through hole 113 corresponding to the hole 160 formed in the lever 16. The lever 16 may be rotatably mounted to the side brush body 11 by the shaft 19 passing through the hole 160 and the through hole 113.

The lever 16 may be provided with a guide pin 162. The guide pin 162 is provided to protrude from the bottom of the lever 16. For example, the guide pin mounting hole 161 is formed in the lever 16, and the guide pin 162 provided separately may be fastened by inserting the guide pin mounting hole 161. The guide pin 162 may be integrally formed with the lever 16.

The side brush body 11 may be formed with a slit 111 into which the guide pin 162 may be inserted and guided. The slit 111 may be provided at a position where the guide pin 162 may be inserted and moved when the lever 16 rotates about the shaft 19 adjacent to the through hole 113. Rotation radius of the side arm 13 to be described later may be set according to the length of the slit 111 is formed. That is, the rotation of the side arm 13 in at least one direction may be limited by the slit 111.

A coupling hole 112 may be formed at one side of the side brush body 11. The side brush body 11 may be coupled to the body 2 by a fastening member (not shown) passing through the coupling hole 112 and the body 2 of the robot cleaner 1. In detail, the bottom surface of the main body 2 is formed with a threaded coupling portion for coupling the fastening member, the fastening member is a coupling hole 112 formed in the side brush body 11 and the coupling formed on the bottom surface of the main body 2 The side brush assembly 10 may be coupled to the bottom surface of the main body 2 by fastening through all the parts. The coupling between the side brush main body 11 and the main body 2 is not limited to the above coupling method, but may be performed by various methods such as a hook method. The user does not disassemble the body 2 by disassembling the hooks of the side brush body 11 and the body 2 or releasing the hooks of the side brush body 11. The assembly 10 can be separated from the body 2.

The lower side of the side brush body 11 is provided with a side arm (13). The side arm 13 includes a side arm main body 130 and a side arm cover 131. The side brush unit 14 may be mounted under the side arm body 130.

Holes 132 and 133 are formed in the side arm body 130 and the side arm cover 131 at corresponding positions, respectively. The shaft 19 may penetrate the hole 132 formed in the side arm body 130 and the hole 133 formed in the side arm cover 131. As a result, the shaft 19 may pass through the holes 132 and 133 formed in the side arm 13, the through hole 113 formed in the side brush body 11, and the hole 160 formed in the lever 16. The shaft 19 can be fixed so that the side arm 13 and the lever 16 can move together. For example, a thread is formed on the outer surface of the shaft 19, and the inner surface of the holes 132 and 133 formed in the side arm 13 or the inner surface of the hole 160 formed in the lever 16 corresponds to the thread. A thread is formed so that the shaft 19 can be fastened to the side arm 13 and the lever 16. As another example, both ends of the shaft 19 may be fixed by the fastening member. Thereby, the lever 16 and the side arm 13 can move together.

The elastic member 17 connects the cam 15 and the lever 16. The elastic member 17 is mounted on one side of the cam 15 and one side of the lever 16 to transmit the elastic force to the lever 16 in accordance with the movement of the cam 15 and the side arm 13. That is, the elastic member 17 may be tensioned by the rotation of the cam 15 or the rotation of the side arm 13 by an external force applied to the side arm 13. When the external force applied to the side arm 13 is removed, the side arm 13 may be returned to its original position by the elastic force of the elastic member 17. Details of the operation related to this will be described later. Based on the hole 160 formed in the lever 16, the elastic member 17 is mounted on one side, the guide pin 162 may be provided on the other side.

The side brush unit 14 includes a side brush mount 140 and a side brush 141. A plurality of side brushes 141 may be mounted on the side brush mounting unit 140. The drive shaft insertion hole 142 may be formed in the side brush mounting portion 140.

The side arm main body 130 is provided with a hole 134 corresponding to the drive shaft insertion hole 142 formed in the side brush mounting portion 140. The drive shaft 143 is mounted through the hole 134 formed in the side arm body 130 and the drive shaft insertion hole 142 formed in the side brush mounting unit 140. A screw thread is formed on the lower outer circumferential surface of the drive shaft 143, and a screw thread corresponding to the screw thread is formed on the inner surface of the drive shaft insertion hole 142 so that the drive shaft 143 may be engaged with the drive shaft insertion hole 142.

Meanwhile, a gear part may be formed on the driving shaft 143. The side arm drive motor 181 may be built in the side arm body 130. The gear part provided in the drive shaft 143 may be connected to the side brush drive motor 181. The drive shaft 143 may be driven and rotated by the side brush drive motor 181. As a result, the side brush unit 14 may be rotated by the side brush drive motor 181.

Hereinafter, the operation of the side brush assembly 10 according to the first embodiment of the present invention will be described.

7 to 10 are views illustrating the operation of the side brush assembly according to the first embodiment of the present invention.

FIG. 7 illustrates a side brush assembly 10 in an initial state in which the driving motor 180 is not driven and the side arm 13 is not subjected to an external force. When the driving motor 180 is driven to rotate the cam 15 in the clockwise direction (A direction), an interval between the one side of the lever 16 on which the elastic member 17 is mounted and the one side of the cam 15 is farther away. (17) is tensioned. As shown in FIG. 8, the other side of the lever 16 rotates clockwise (B direction) about the shaft 19 by the elastic force of the stretched elastic member 17. The guide pin 162 provided on the other side of the lever 16 moves along the slit 111 formed in the side brush body 11. As the lever 16 rotates in the clockwise direction, the side arm 13 coupled with the lever 17 also rotates in the clockwise direction (B direction) to protrude. When the guide pin 162 moves to one side end of the slit 111, the side arm 13 stops rotating. The elastic member 17 may be restored to an initial state.

As a result, the side arm 13 may protrude out of the main body 2 by the driving motor 180. When the side arm 13 protrudes, the side brush unit 14 may rotate to sweep dust or the like accumulated around the main body 2 or at the corners of the floor where the main body 2 travels toward the suction port 62. .

As shown in FIG. 8, when the side arm 13 protrudes by the driving motor 180, the side arm 13 protruding when the side arm 13 receives an external force in the C direction by an obstacle is It rotates counterclockwise (D direction) and returns to the inside of the main body 2. As the side arm 13 rotates in the counterclockwise direction (D direction), the lever 16 also rotates in the counterclockwise direction (D direction) about the shaft 19. When the side arm 13 is completely returned to the inside of the main body 2, the guide pin 162 may be located at the other end of the slit 111. At this time, since the distance between one side of the lever 16 on which the elastic member 17 is mounted and one side of the cam 15 becomes farther, the elastic member 17 is tensioned. When the external force caused by the obstacle is removed, the lever 16 rotates in the clockwise direction (B direction) by the elastic force of the stretched elastic member 17. When the lever 16 rotates in the clockwise direction (B direction), the side arm 13 also rotates in the clockwise direction (B direction) to recover the original state which protruded.

In the initial state of FIG. 7, when an external force in the E direction that can protrude the side arm 13 is applied, the side arm 13 rotates in the clockwise direction (B direction). As the side arm 13 rotates clockwise (B direction), the lever 16 also rotates clockwise (B direction). The guide pin 162 provided in the lever 16 may move to one side end of the slit 111 along the slit 111. At this time, since the distance between one side of the lever 16 on which the elastic member 17 is mounted and the cam 15 is farther away, the elastic member 17 is tensioned. When the external force in the E direction is removed, the lever 16 rotates in the counterclockwise direction (D direction) by the elastic force of the elastic member 17. As the lever 16 rotates in the counterclockwise direction (D direction), the side arm 13 also rotates in the counterclockwise direction (D direction) to return to the inside of the main body 2. This allows the side arm 13 to recover the initial state.

Even if there is interference caused by an obstacle by the elastic force of the elastic member 17, the side arm 13 may restore its original position as soon as the external force is removed.

FIG. 11 is an exploded perspective view of a side brush assembly according to a second embodiment of the present invention, and FIG. 12 is a view showing a state in which a cover of the side brush assembly according to the second embodiment of the present invention is removed.

11 and 12, the side brush assembly 10 according to the second embodiment of the present invention includes a side brush body 11, a cover 12, a side arm 13, and a side brush unit 14. Include. An opening may be formed in an upper portion of the side brush body 11 and may be shielded by the cover 12. The side arm 13 may be mounted to the side brush body 11, and the side brush unit 14 may be mounted to the side arm 13.

An accommodating part 110 is formed in the side brush body 11, and the side arm driving motor 180 is accommodated in the accommodating part 110. The side brush body 11 is provided with a cam 15, a lever 16, and an elastic member 17. The cam 15, the lever 16, and the elastic member 17 may be accommodated in the accommodation portion 110 of the side brush body 11.

Information regarding the side brush body 11, the cover 12, the side arm 13, and the side brush unit 14 may be applied to the side brush assembly 10 according to the first embodiment of the present invention. . Hereinafter, the configuration of the lever 16 which is different from the first embodiment of the present invention will be described in detail.

The lever 16 according to the second embodiment of the present invention may be provided with a guide pin 162 integrally. The guide pin 162 may protrude from the bottom of the lever 16. The guide pin 162 may be separately provided as in the first embodiment and may be mounted on the lever 16.

The locking unit 163 may be provided at the lever 16. The locking portion 163 may be formed by protruding a part of the lever 16 to the outside. In a state in which the side arm 13 is retracted into the main body 2, the locking part 163 may be interfered by one side of the cam 15. In the initial state, the locking unit 163 is interfered by the cam 15 unless the cam 15 is powered by the driving motor 180 and rotates. If the locking portion 163 is interfered by one side of the cam 15 in the initial state in which the side arm 13 is retracted into the main body 2, the side arm 13 cannot rotate because the lever 16 cannot rotate even if there is an external force. The initial state is maintained without protruding to the outside of the main body 2.

Hereinafter, the operation of the side brush assembly 10 according to the second embodiment of the present invention will be described in detail.

13 to 15 are views showing the operation of the side brush assembly according to the second embodiment of the present invention, Figure 16 is a view showing a state in which the side brush assembly is locked according to the second embodiment of the present invention. .

FIG. 13 is a view illustrating a side brush assembly 10 in an initial state in which the driving motor 180 is not driven and the side arm 13 is not subjected to an external force. In the second embodiment of the present invention, the state where the guide pin 162 is located at the other end of the slit will be described as an initial state.

When the driving motor 180 is driven to rotate the cam 15 in the counterclockwise direction (F direction), the distance between one side of the lever 16 on which the elastic member 17 is mounted and one side of the cam 15 becomes farther and elastic. The member 17 is tensioned. As shown in FIG. 14, the other side of the lever 16 rotates in the clockwise direction (B direction) about the shaft 19 by the elastic force of the stretched elastic member 17. The guide pin 162 provided in the lever 16 moves along the slit 111 formed in the side brush body 11. As the lever 16 rotates in the clockwise direction, the side arm 13 coupled with the lever 17 also rotates in the clockwise direction (B direction) to protrude. When the guide pin 162 moves to one side end of the slit 111, the side arm 13 stops rotating. At this time, the distance between one side of the lever 16 on which the elastic member 17 is mounted and one side of the cam 15 is narrowed to be equal to the interval in the initial state, so that the elastic member 17 may be restored to the initial state.

As a result, the side arms 13 may protrude by the driving motor 180. When the side arm 13 protrudes, the side brush unit 14 may rotate to sweep dust or the like accumulated around the main body 2 or at the corners of the floor where the main body 2 travels toward the suction port 62. .

As shown in FIG. 14, when the side arm 13 protrudes by the driving motor 180, the side arm 13 protruding when the side arm 13 receives an external force in the G direction by an obstacle is It rotates counterclockwise (D direction) and returns to the inside of the main body 2. As the side arm 13 rotates in the counterclockwise direction (D direction), the lever 16 also rotates in the counterclockwise direction (D direction) about the shaft 19. When the side arm 13 is completely returned to the inside of the main body 2, the guide pin 162 may be located at the other end of the slit 111. At this time, since the distance between one side of the lever 16 on which the elastic member 17 is mounted and one side of the cam 15 becomes farther, the elastic member 17 is tensioned. When the external force in the G direction due to the obstacle is removed, the lever 16 rotates in the clockwise direction (B direction) by the elastic force of the stretched elastic member 17. When the lever 16 rotates in the clockwise direction (B direction), the side arm 13 also rotates in the clockwise direction (B direction) to recover the original state which protruded.

As shown in FIGS. 13 and 16, in the initial state in which the side arm 13 is retracted into the main body 2, the lever 16 is locked even if an external force in the F direction is applied to the side arm 13. (16) does not rotate. Thereby, the side arm 13 can be prevented from protruding outside the main body 2 by the external force in the F direction.

In detail, in the initial state, the locking portion 163 protruding from the lever 16 is provided to be interfered by one side of the cam 15. As long as the driving motor 180 does not rotate the cam 15, the cam 15 remains in a state of interfering with the locking unit 163. The cam 15 is located inside the locking portion 163 so that the guide pin 162 moves from the other end of the slit 111 to one end to prevent the lever 16 from rotating in the clockwise direction (B). Can be located. Thereby, the side arm 13 does not protrude outside the main body 2 by the external force of the F direction in an initial state.

As described above, according to the side brush assembly and the robot cleaner using the same according to the first and second embodiments of the present invention, since the side arm on which the side brush unit is mounted may protrude, the cleaning area can be widened. In addition, the side arm can be prevented from being damaged by the obstacle. Even if the external arm is subjected to an external force in the initial state where the side arm does not protrude, the external arm can be prevented from protruding outside the main body. Since the side brush assembly is modularized and mounted on the main body, even if a failure occurs in the side brush unit or the side arm, it is possible to solve the failure by simply removing the side brush assembly without disassembling the entire main body.

FIG. 17 is a view illustrating a side brush assembly in a state where a side arm protrudes, and FIG. 18 is a view illustrating a side brush assembly in a side arm folded state according to the present invention.

17 and 18, the side brush assembly 10 according to the present invention may be provided with a pressing unit 150 rotatable with the cam 15. The pressing unit 150 may rotate integrally with the cam 15 when the cam 15 rotates by the driving motor 180. For example, the pressing unit 150 is fixedly mounted to the cam 150 or injection molded integrally with the cam 15 so that the cam 15 rotates by the drive motor 180 and the cam 15. The pressing unit 150 may rotate integrally. The driving motor 180 may lead the side arm 13 into the side brush assembly 10 by rotating the cam 15 in the A direction. At this time, the pressing unit 150 together with the cam 15 also rotates in the A direction.

One side of the side brush assembly 10 may be provided with a sensor 183 equipped with a switch 182 that can be pressed by the pressing unit 150. When the pressing unit 150 rotates together with the cam 15 and the side arm 13 is completely inserted into the main body 2, the pressing unit 150 may be provided to press the switch 182. That is, when the driving motor 180 is not driven and the side arm 13 is not in an initial state, the pressing unit 182 presses the switch 182.

When the pressing unit 150 presses the switch 182, the current inside the sensor 183 is energized. When the current inside the sensor 183 is energized, the side arm 13 may be detected as being completely drawn into the side brush assembly 10. That is, when the pressing unit 150 presses the switch 182, it may be sensed that the side arm 13 is completely inserted into the main body 2. The sensor 183 transmits information to the controller (not shown) that the side arm 13 is detected to be completely inserted into the main body 2.

When the side arm 13 is rotated by the driving motor 180 to protrude out of the main body 2, the pressing unit 150 is spaced apart from the switch 182. When the cam 15 is rotated in the A direction by the driving motor 180 and the side arm 13 is completely inserted into the main body 2, the pressing unit 150 presses the switch 182. When the switch 182 is pressed, the current of the sensor 183 is energized, and the sensor 183 transmits information to the controller (not shown) that the side arm 13 is completely drawn into the main body 2.

Hereinafter, the control of the operation | movement which a side arm 13 protrudes, and an operation which returns is demonstrated.

19 is a flowchart related to the control of the motion of the side arm protruding according to the present invention.

Referring to FIG. 19, the controller (not shown) rotates the driving motor 180 so that the side arm 13 according to the present invention rotates to protrude out of the main body 2 (S1). The controller (not shown) may drive the driving motor 180 to rotate the cam 15 in the A direction. The side arm 13 can be rotated so that the side arm 13 may protrude outside the main body 2 by the cam 15 rotating in the A direction (S1).

When the side arm 13 is rotated to protrude out of the main body 2, the controller (not shown) determines whether the driving motor 180 is rotated by a predetermined number of steps (S2). As a result, the controller (not shown) may determine whether the side arm 13 is rotated by a predetermined final angle.

The final angle at which the side arm 13 can rotate is the line and side connecting the shaft 19 and one end of the side arm 13 furthest from the shaft 19 when the side arm 13 is in its initial state. When the arm 13 rotates to complete the protruding operation, it may be an angle formed by a line connecting the shaft 19 and one end of the side arm 13 farthest from the shaft 19. Depending on the shape of the body 2, the shape of the side brush assembly 10, or the shape of the side arm 13, a final angle at which the side arm 13 protrudes and finally formed may be preset.

In this case, as the driving motor 180, a step motor capable of rotating the motor shaft by a predetermined unit angle every step may be used. The unit angle that can rotate every step may vary depending on the number of pearls transmitted to the driving motor 180. For example, the axis of the driving motor 180 may be rotated by a unit angle (360 ° ÷ 200 pulses) of 1.8 ° per step in a step motor rotated once per 200 spreads. Therefore, the rotation angle of the motor may be controlled according to the number of pulses transmitted to the driving motor 180.

The controller (not shown) may preset a number of steps in which the motor shaft of the driving motor 180 may rotate to rotate the side arm 13 by the final angle. For example, the control unit (not shown) is preset in the control unit (not shown) so that the side arm 13 may rotate and protrude by a final angle of 100 °, and the side arm 13 is provided in the control unit (not shown). The number of steps for rotating 100 ° may be preset and stored. In order to protrude the side arm 13, the controller (not shown) rotates the motor shaft of the driving motor 180 by a predetermined number of steps. When the driving motor 180 rotates by the number of previously stored steps, the side arm 13 may rotate by the final angle to protrude. On the other hand, the cam 15 is rotatable corresponding to the motor shaft.

Whether the motor shaft of the driving motor 180 is rotated by a predetermined number of steps may be performed after the rotation of each step of the driving motor 180 is completed. That is, the controller (not shown) may determine whether the driving motor 180 rotates by a predetermined number of steps each time the driving motor 180 rotates the unit angle.

When the motor shaft of the driving motor 180 is rotated by a predetermined number of steps and the side arm 13 is rotated to a predetermined final angle, the rotation operation of the side arm 13 is stopped (S3). That is, when the driving motor 180 rotates by the number of pre-stored steps so that the side arm 13 rotates to the final angle, the rotation of the side arm 13 is stopped by stopping the rotation of the driving motor 180. As a result, the side arms 13 may rotate to protrude to the outside of the main body 2.

20 is a flowchart related to the control of the operation of returning the side arm according to the present invention.

Referring to FIG. 20, the controller (not shown) rotates the motor shaft of the driving motor 180 so that the side arm 13 according to the present invention rotates to return to the inside of the main body 2 (S10). The controller (not shown) may drive the driving motor 180 to rotate the cam 15 in the B direction. The side arm 13 can be rotated to return to the inside of the main body 2 by the cam 15 rotating in the B direction.

The controller (not shown) determines whether the motor shaft of the driving motor 180 is rotated by a predetermined number of steps (S20). When the side arm 13 protrudes out of the main body 2, the motor shaft of the drive motor 180 has rotated by a predetermined number of steps, and therefore, the same steps are used when the side arm 13 returns to the inside of the main body 2. Rotate the motor shaft by a number. When the side arm 13 returns to the inside of the main body 2, when the side arm 13 protrudes out of the main body 2, the side arm 13 rotates in the opposite direction to the rotation direction of the motor shaft. Whether the motor shaft of the driving motor 180 is rotated by a predetermined number of steps may be determined whenever the motor shaft rotates the unit angle.

If it is determined that the motor shaft of the driving motor 180 is not rotated by a predetermined number of steps, the controller (not shown) maintains the driving state of the driving motor 180. That is, when it is determined that the motor shaft of the drive motor 180 does not rotate the predetermined number of steps, the driving motor 180 further rotates the unit angle and determines whether the predetermined number of steps has been rotated again. If it is determined that the motor shaft of the drive motor 180 is rotated by a predetermined number of steps, the driving of the drive motor 180 is stopped to stop the rotation of the motor shaft (S30).

When the rotation of the motor shaft is stopped, the controller (not shown) determines whether the switch 182 is pressed (S40). When the switch 182 is pressed, the side arm 13 is regarded as fully inserted into the main body 2, and the sensor 183 indicates that the side arm 13 is fully inserted into the main body 2 so that the switch 182 is moved. Information that is pressed is transmitted to the controller (not shown). When the controller (not shown) receives the information that the switch 182 is pressed, the controller (not shown) stops the rotation of the motor shaft and ends the return operation of the side arm 13.

If it is determined that the switch 182 is not pressurized, it may be determined that the side arm 13 is not completely drawn into the main body 2. That is, it may be determined that the side arm 13 is not in a state of being fully inserted into the main body 2 due to interference by an external obstacle or the like.

The controller (not shown) determines whether the waiting time has elapsed while the driving of the driving motor 180 is stopped (S50). Here, the waiting time means a time required to remove an external obstacle or the like that interferes with the side arm 13. The waiting time may be preset in the controller (not shown). For example, the waiting time may be preset to 30 seconds. If it is determined that the switch 182 is not pressurized, the controller determines whether a waiting time of 30 seconds has elapsed. The user can remove the obstacle that interferes with the side arm 13 within the waiting time. The robot cleaner 1 may remove an obstacle that prevents the return of the side arm 13 by performing a specific operation within the waiting time. For example, when the side arm 13 is not fully inserted into the main body, the robot cleaner 1 may perform a rotational movement or a linear movement in the waiting time to remove obstacles that hinder the entry operation of the side arm 13. Can be.

When the waiting time elapses while the driving of the driving motor 180 is stopped, the controller (not shown) drives the driving motor 180 to rotate the motor shaft by a predetermined unit angle in the direction in which the side arm 13 is returned. (S60). When the motor shaft rotates by a unit angle, it is determined whether the switch 182 is pressed (S70). If it is determined that the switch 182 is not pressed, the controller (not shown) drives the driving motor 180 to further rotate the motor shaft by a unit angle. If it is determined that the switch 182 is pressed, the sensor 183 transmits information to the controller (not shown) that the side arm 13 has fully returned to the inside of the main body 2 to press the switch 182. The return operation of (13) ends.

After the waiting time has elapsed, if the switch 182 is not pressed even after the driving motor 180 is driven by a predetermined number of steps, the robot cleaner 1 may have a waiting time again. When the obstacle is removed by the user or the obstacle is removed by the operation of the robot cleaner 1 within the waiting time, the controller (not shown) may drive the driving motor 180 until the switch 182 is pressed.

As described above, the side arm 13 on which the side brush 141 is mounted may protrude out of the main body 2 to clean corners or obstacles. In addition, the side brush unit may be prevented from being damaged due to interference by an external obstacle, and the force may be prevented from being protruded by an external obstacle in a state where the side brush unit does not protrude. In addition, the side arm 13 may return to the inside of the main body 2, and it may be sensed whether or not the side arm 13 is completely returned by pressing the switch 182. If the side arm 13 is interfered by an obstacle and is not fully introduced into the main body 2, the side arm 13 may be removed by the user directly during the waiting time or by the rotation or linear operation of the robot cleaner 1. Obstacles that obstruct the return operation of the can be removed. This allows the side arm 13 to be fully inserted into the body 2 reliably.

Claims (30)

A body traveling on a floor to remove dust from the floor; And
At least one side brush assembly provided in the main body to widen the dust removing area of the bottom;
The side brush assembly,
A side brush body forming an appearance;
A side arm mounted below the side brush body, the side arm protruding outwardly of the body;
A side brush unit rotatably mounted to the side arm;
A lever connected to the side arm and rotating together with the side arm;
A cam that receives the driving force from the drive motor and rotates; And
And an elastic member connecting the lever and the cam and transmitting an elastic force to the lever to rotate the lever. The method of claim 1,
A through-hole is formed in the side brush body, and the shaft inserted into the through-hole is connected to the side brush body and the lever through the robot cleaner. The method of claim 2,
A robot cleaner having a slit formed adjacent to the through hole. The method of claim 3,
The lever is provided with a guide pin, the robot cleaner to move the guide pin along the slit as the lever rotates. The method of claim 4, wherein
When the cam is driven and rotated by the drive motor, the guide pin is moved in one direction along the slit by the elastic force of the elastic member, and the side arm protrudes out of the main body. The method of claim 5,
When an external force is applied in a direction of returning the side arm into the main body while the side arm protrudes outside the main body, the guide pin moves in the other direction along the slit, and when the external force is removed, the elastic member is The guide cleaner is moved in one direction along the slit by the elastic force to return the side arm protrudes to the outside of the main body. The method of claim 4, wherein
When an external force is applied in a direction in which the side arm protrudes outward from the main body while the side arm is inserted into the main body, the guide pin moves in one direction along the slit, and the elastic member is removed when the external force is removed. The guide cleaner is moved in the other direction along the slit by the elastic force of the robot cleaner to return to the state in which the side arm is retracted in the main body. The method of claim 4, wherein
A part of the lever protrudes outward to form a locking part. The method of claim 8,
The locking portion is interfered by the cam in the state where the side arm is inserted into the main body, and even though an external force acts in the direction of protruding the side arm to the outside of the main body, the locking portion interferes with the cam and the lever rotates. Robot cleaner that doesn't. The method of claim 4, wherein
The guide pin is a robot cleaner formed integrally with the lever. The method of claim 1,
The side brush assembly is a robot cleaner detachably mounted on the bottom of the body. The method of claim 11,
A coupling cleaner is formed in the side brush body, and the side brush body is coupled to the body by a fastening member penetrating the coupling hole and the bottom surface of the body. The method of claim 1,
The side arm is a robot cleaner provided with a drive shaft mounted to the side brush unit and a side brush drive motor for rotating the power supply to the drive shaft. A side brush body having a receiving portion;
A drive motor accommodated in the accommodation portion;
A cam that receives power from the drive motor and rotates;
A lever rotatably provided at the side brush body;
An elastic member which connects the cam and the lever and is tensioned by rotation or external force of the cam to rotate the lever;
A side arm rotatably integrated with the lever; And
And a side brush unit rotatably mounted to the side arm. The method of claim 14,
And the side arm and the lever are mounted and fixed to both ends of the shaft passing through the side brush body, respectively. The method of claim 14,
The side arm is rotated in one direction by the external force, when the external force is removed, the side brush assembly to return to the original position by rotating in the other direction. The method of claim 14,
A side brush assembly protruding on one side of the lever is formed with a locking portion. The method of claim 17,
If the cam does not rotate when the driving force is supplied from the drive motor, the locking portion is interfered by the cam to limit the rotation of the lever and the side arm assembly. The method of claim 14,
A slit is formed in the side brush body, and the lever is provided with a guide pin guided by the slit. The method of claim 19,
Side brush assembly that can be limited in the rotation of the side arm in at least one direction by the length of the slit. A body traveling on a floor to remove dust from the floor;
A side brush body provided inside the body and having a receiving portion;
A drive motor accommodated in the accommodation portion;
A cam that receives power from the drive motor and rotates;
A pressing unit mounted to the cam and moving integrally with the cam;
A side arm protruding from the main body or drawn into the main body by the rotation of the cam;
A control unit controlling the driving of the driving motor; And
And a sensor mounted on the side brush body and configured to detect whether the side arm is completely inserted into the side brush body. The method of claim 21,
The sensor comprises a switch, the pressurizing portion presses the switch when the side arm is completely inserted into the main body. The method of claim 22,
And the sensor presses the switch so that the sensor transmits information to the controller that the side arm is completely inserted into the main body. The method of claim 22,
And the control unit has a predetermined number of steps of the driving motor driven when the side arm protrudes or returns. The method of claim 24,
And when the switch is not pressed after the drive motor is driven by a predetermined number of steps when the side arm returns to the inside of the main body, the controller determines that the side arm is interfered by an obstacle. A first step of driving the driving motor to rotate the side arms so that the side arms return to the inside of the main body;
A second step of determining whether the driving motor is driven by a predetermined number of steps;
Determining whether the switch is pressed by the side arm;
A fourth step of determining whether a waiting time has elapsed while the rotation of the drive motor is stopped;
A fifth step of driving the driving motor to rotate the side arms so that the side arms return to the inside of the main body; And
And a sixth step of determining whether the switch is pressurized. The method of claim 26,
In the third step, if it is detected that the switch is pressed by the side arm and the side arm is completely returned to the inside of the main body control method of the robot cleaner to terminate the return operation of the side arm. The method of claim 26,
In the fourth step, the robot cleaner during the waiting time to control the robot cleaner to remove the obstacle to interfere with the side arm by rotating or linear operation. The method of claim 26,
In the sixth step, if it is detected that the switch is pressed, the control method of the robot cleaner to repeat the fifth step. delete
KR1020120131379A 2012-08-30 2012-11-20 Side brush assembly, robot cleaner and method for controlling the robot cleaner KR102015323B1 (en)

Priority Applications (7)

Application Number Priority Date Filing Date Title
JP2013178411A JP2014046207A (en) 2012-08-30 2013-08-29 Side brush assembly, robot cleaner and control method for the same
PCT/KR2013/007756 WO2014035152A1 (en) 2012-08-30 2013-08-29 Side brush assembly, robot cleaner and control method of robot cleaner
AU2013309726A AU2013309726B2 (en) 2012-08-30 2013-08-29 Side brush assembly, robot cleaner and control method of robot cleaner
IN2236DEN2015 IN2015DN02236A (en) 2012-08-30 2013-08-29
US14/014,902 US9414734B2 (en) 2012-08-30 2013-08-30 Side brush assembly, robot cleaner and control method of robot cleaner
EP13182355.1A EP2702919B1 (en) 2012-08-30 2013-08-30 Robot cleaner and control method of robot cleaner
CN201310388447.6A CN103654641B (en) 2012-08-30 2013-08-30 The control method of side brush assembly, robot cleaner and robot cleaner

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020120095367 2012-08-30
KR20120095367 2012-08-30

Publications (2)

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KR20140030008A KR20140030008A (en) 2014-03-11
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023214684A1 (en) * 2022-05-04 2023-11-09 삼성전자 주식회사 Driving robot, control method of driving robot, and recording medium having recorded thereon computer program

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4201747B2 (en) * 2004-07-29 2008-12-24 三洋電機株式会社 Self-propelled vacuum cleaner
KR20070107956A (en) * 2006-05-04 2007-11-08 삼성전자주식회사 Robot cleaner

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023214684A1 (en) * 2022-05-04 2023-11-09 삼성전자 주식회사 Driving robot, control method of driving robot, and recording medium having recorded thereon computer program

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IN2015DN02236A (en) 2015-08-21
AU2013309726A1 (en) 2015-01-22
KR20140030008A (en) 2014-03-11

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